Rotational position detector for robot

Abstract

Disclosed is herein a rotational position detector for a robot which can always accurately detect the rotational positions of each rotational member based on the output values from each absolute value detector regardless of the rotational conditions of the rotational member. Each absolute value detector (resolver) is connected to each rotational member such that the ratio of the rotational angle period of the absolute value detector to the rotational angle period of the rotational member is set to be 1:N (N is an integer larger than 1).

What is claimed is: 
     
       1. A rotational position detector for detection rotation of coaxial rotational numbers of a robot, comprising: rotational members, each being capable of multiple rotations about the same axis; and   absolute value detectors for detecting rotational positions of each of said rotational members about said axis,   wherein each of said absolute value detectors is connected to a corresponding one of said rotational members, and wherein a ratio of a rotational angle period of said absolute value detector to a rotational angle period of said rotational member is 1:N, where N is an integer larger than 1.   
     
     
       2. A robot comprising: coaxial rotational members, each being capable of multiple rotations about the same axis; and   absolute value detectors for detecting rotational positions of each of said rotational members about said axis,   wherein each of said absolute value detectors is connected to a corresponding one of said rotational members, and wherein a ratio of a rotational angle period of said absolute value detector to a rotational angle period of said rotational member is 1:N, where N is an integer larger than 1.   
     
     
       3. A robot having a rotational position detector and comprising: rotational members, each being capable of multiple rotations; and   absolute value detectors for detecting rotational positions of each of said rotational members, wherein each of said absolute value detectors is connected to a corresponding one of said rotational members, and wherein a ratio of a rotational angle period of said absolute value detector to a rotational angle period of said rotational member is limited to only a value of 1:N, where N is an integer larger than 1.